// Copyright (c) 2021 - for information on the respective copyright owner
// see the NOTICE file and/or the repository https://github.com/boschglobal/locator_ros_bridge.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <ros/ros.h>

#include "locator_bridge_node.hpp"

int main(int argc, char ** argv)
{
  ros::init(argc, argv, "locator_ros_bridge");
  LocatorBridgeNode node;
  node.init();

  ros::AsyncSpinner spinner(4);
  spinner.start();
  std_srvs::Empty msg;
  if(ros::service::call("/bridge_node/start_localization", msg))
  {
    ROS_INFO("/bridge_node/start_localization");
  }
  ros::waitForShutdown();

  return 0;
}
